diff --git a/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml
index b6396f2f..d1b41ad9 100644
--- a/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml
+++ b/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml
@@ -12,7 +12,7 @@ controller_manager:
       type: picknik_twist_controller/PicknikTwistController
 
     robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
     fault_controller:
       type: picknik_reset_fault_controller/PicknikResetFaultController
@@ -51,6 +51,5 @@ twist_controller:
 
 robotiq_gripper_controller:
   ros__parameters:
-    default: true
     joint: robotiq_85_left_knuckle_joint
     allow_stalling: true
diff --git a/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml
index bd98a73d..7c083326 100644
--- a/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml
+++ b/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml
@@ -12,7 +12,7 @@ controller_manager:
       type: picknik_twist_controller/PicknikTwistController
 
     robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
     fault_controller:
       type: picknik_reset_fault_controller/PicknikResetFaultController
@@ -52,6 +52,5 @@ twist_controller:
 
 robotiq_gripper_controller:
   ros__parameters:
-    default: true
     joint: robotiq_85_left_knuckle_joint
     allow_stalling: true
diff --git a/kortex_description/package.xml b/kortex_description/package.xml
index 932879b1..6a6a20b3 100644
--- a/kortex_description/package.xml
+++ b/kortex_description/package.xml
@@ -21,6 +21,7 @@ for KINOVA KORTEX™ arms and supported grippers</p>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
+  <exec_depend>parallel_gripper_controller</exec_depend>
   <exec_depend>picknik_reset_fault_controller</exec_depend>
   <exec_depend>picknik_twist_controller</exec_depend>
   <exec_depend>rviz2</exec_depend>